A linear space of admittance control laws that guarantees force-assembly with friction

IEEE Transactions on Robotics and Automation

Volumn 13, Issue 5, 1997, Pages 656-667

  Schimmels, Joseph M ^a  

^a Marquette University   (United States)

Author keywords

Assembly; Force guidance; Impedance design

Indexed keywords

FORCE CONTROL; FRICTION; IDENTIFICATION (CONTROL SYSTEMS); MANIPULATORS; MATRIX ALGEBRA; OPTIMIZATION;

ADMITTANCE CONTROL LAWS; FORCE ASSEMBLY; FORCE GUIDANCE; IMPEDANCE DESIGN; LINEAR SPACE;

ASSEMBLY;

EID: 0031257432     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.631227     Document Type: Article

References (15)

1. H. Asada, "Teaching and learning of compliance using neural nets," IEEE Trans. Robot. Automat., vol. 9, pp. 863-867, 1993.
2. H. Asada and Y. Kakumoto, "The dynamic analysis and design of a high-speed insertion hand using the generalized centroid and virtual mass," ASME J. Dynam. Syst., Measure., Contr., vol. 112, no. 4, pp. 645-652, 1990.
3. R. S. Ball, A Treatise on the Theory of Screws. Cambridge, U.K.: Cambridge Univ. Press, 1900.
4. A. J. Goldman and A. W. Tucker, "Polyhedral convex cones," Linear Inequalities and Related Systems, H. W. Kuhn and A. W. Tucker, Eds. Princeton, NJ: Princeton Univ. Press, 1956.
5. M. Marcus, "Basic theorems in matrix theory," Applied Mathematics Series, National Bureau of Standards, Boulder, CO, 1960.
6. J. L. Nevins and D. E. Whitney, "The force vector assembler concept," in Proc. 1st Int. Conf. Robots and Manipulator Syst., Udine, Italy, 1973, pp. 273-288.
7. M. S. Ohwovoriole and B. Roth, "An extension of screw theory," ASME J. Mech. Design, vol. 103, no. 3, 1981.
8. M. A. Peshkin, "Programmed compliance for error-corrective manipulation," IEEE Trans. Robot. Automat., vol. 6, pp. 473-482, 1990.
9. F. Reuleaux, Kinematics of Machinery. Dover, 1963.
10. J. M. Schimmels and M. A. Peshkin, "Admittance matrix design for force guided assembly," IEEE Trans. Robot. Automat., vol. 8, 213-227, 1992.
11. _, "Force-assembly with friction," IEEE Trans. Robot. Automat., vol. 10, pp. 455-479, 1994.
12. G. Strang, Linear Algebra and Its Applications. San Diego, CA: Harcourt Brace Jovanovich, 1988.
13. L. Weinberg, Network Analysis and Synthesis. New York: McGraw-Hill, 1962, (McGraw-Hill Elect. Electron. Eng. Series)
14. D. E. Whitney, "Force feedback control of manipulator fine motions," ASME J. Dynam. Syst., Measure., Contr., vol. 97, no. 2, pp. 91-97, 1977.
15. _, "Quasistatic assembly of compliantly supported rigid parts," ASME J. Dynam. Syst., Measure. Contr., vol. 104, no. 1, pp. 65-77, 1982.